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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li>  </ul>
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<a href="trajectory_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="trajectory_8h.html">trajectory.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shapegroup_8h.html">shapegroup.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">shape.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//#include &quot;fcl_transform.h&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classcollision_1_1_trajectory.html#a2877328b888698d91450c528e4aa8ebc">   19</a></span>&#160;<a class="code" href="classcollision_1_1_trajectory.html#a2877328b888698d91450c528e4aa8ebc">Trajectory::Trajectory</a>(<span class="keywordtype">int</span> time_start_idx,</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;                       std::vector&lt;Eigen::Vector2d&gt; positions,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                       std::vector&lt;double&gt; orientations,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                       <span class="keywordtype">double</span> length, <span class="keywordtype">double</span> width, <span class="keywordtype">double</span> max_interp_distance)</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    : <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a>(time_start_idx) <span class="comment">// innerObject_(0.5*length, 0.5 * width,orientations[0],positions[0])</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;{</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  positions_ = positions;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  orientations_ = orientations;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">  collision_obj_=innerObject_.getCollisionObject();</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">  // TODO: thread-safety: create a separate fcl collision object for each simulation call?</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">  //  reduce angles &gt;2pi so only one half turn is performed at maximum</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">  for (int i=0; i&lt;orientations.size(); i++) {</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">    orientations_[i] = fmod((fmod(orientations_[i], (2 * M_PI)) + 2 * M_PI),</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">                            (2 * M_PI));</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">    if (orientations_[i] &gt; M_PI) {orientations_[i] -= 2*M_PI;}</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">  }</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">  // TODO: also consider maximal angle diff for the interpolation</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">  // TODO: check if the arrays are of the same size</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">  for (int pose_ct=0; pose_ct&lt;orientations.size()-1; pose_ct++)</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">  {</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">        Eigen::Vector2d tangent = positions_[pose_ct+1] - positions_[pose_ct];</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">        double dist = tangent.norm();</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">        int interpolation_step = 0;</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">        interpolation_step=(dist/max_interp_distance)+1;</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">        steps_per_timestep_.push_back(std::max(interpolation_step,1));</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">  }</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">  simulate_step_=0;</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">  simulate_steps_=0;</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">  simulate_delta_pos_=Eigen::Vector2d(0,0);</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">  simulate_delta_angle_=0;</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">  simulate_pos_=Eigen::Vector2d(0,0);</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">  simulate_angle_=0;</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// interpolate Trajectory between time steps</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> pose_ct=0; pose_ct&lt;orientations.size()-1; pose_ct++) {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    Eigen::Vector2d tangent = positions_[pose_ct+1] - positions_[pose_ct];</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">double</span> dist = tangent.norm();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">// always turn in the shortest direction</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">double</span> angle = orientations_[pose_ct] - orientations_[pose_ct+1];</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">if</span> (angle &gt; M_PI) {angle -= 2 * M_PI;}</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (angle &lt; -M_PI) {angle += 2 * M_PI;}</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">double</span> interpolation_step = 0.0;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">if</span>(tangent.squaredNorm() &gt; 1e-4){</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordtype">double</span> interpolation_step = max_interp_distance / dist;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">//build up one shape group per time step</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>* sg = <span class="keyword">new</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> subpose_ct=0; subpose_ct &lt; std::max(1, <span class="keywordtype">int</span>(interpolation_step));</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;         subpose_ct++) {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordtype">double</span> r = subpose_ct * interpolation_step;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a>* obb = <span class="keyword">new</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a>(</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        0.5 * length, 0.5 * width,</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        orientations_[pose_ct] - r * angle, positions_[pose_ct] + r * tangent);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      std::shared_ptr&lt;RectangleOBB&gt; obb_ptr =</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        std::shared_ptr&lt;RectangleOBB&gt;(obb);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      sg-&gt;<a class="code" href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">addToGroup</a>(obb_ptr);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="comment">// include one OBB for the last time step</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">//    RectangleOBB* obb_end = new RectangleOBB(0.5 * length, 0.5 * width,</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">//                                             orientations_[pose_ct+1],</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">//                                             positions_[pose_ct+1]);</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">//    std::shared_ptr&lt;RectangleOBB&gt; obbend_ptr =</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">//      std::shared_ptr&lt;RectangleOBB&gt;(obb_end);</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">//    sg-&gt;addToGroup(obbend_ptr);</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    std::shared_ptr&lt;ShapeGroup&gt; sg_ptr = std::shared_ptr&lt;ShapeGroup&gt;(sg);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <a class="code" href="classcollision_1_1_time_variant_collision_object.html#ab59814dd8f7a109edd22df8d250c96f7">appendObstacle</a>(sg_ptr);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordtype">int</span> pose_ct = orientations_.size()-1;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>* sg = <span class="keyword">new</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a>* obb_end = <span class="keyword">new</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a>(0.5 * length, 0.5 * width,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                                         orientations_[pose_ct],</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                                         positions_[pose_ct]);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  std::shared_ptr&lt;RectangleOBB&gt; obbend_ptr = std::shared_ptr&lt;RectangleOBB&gt;(obb_end);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  sg-&gt;<a class="code" href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">addToGroup</a>(obbend_ptr);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::shared_ptr&lt;ShapeGroup&gt; sg_ptr = std::shared_ptr&lt;ShapeGroup&gt;(sg);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <a class="code" href="classcollision_1_1_time_variant_collision_object.html#ab59814dd8f7a109edd22df8d250c96f7">appendObstacle</a>(sg_ptr);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">int Trajectory::get_num_steps_for_timestep(int time_idx)</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">    if( (time_idx&lt;time_start_idx_) || (time_idx&gt;time_end_idx_) ) return 0;</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">    if(time_idx==time_end_idx_) return 1;</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">    return steps_per_timestep_[time_idx];</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">int Trajectory::simulate_init(int time_idx,int steps)</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">    if( (time_idx&lt;time_start_idx_) || (time_idx&gt;time_end_idx_) || steps &lt; 1) return -1;</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">    simulate_pos_=positions_[time_idx];</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">    simulate_angle_=orientations_[time_idx];</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">    collision_obj_-&gt;setTransform(collision::FCLTransform::fcl_get_3d_rotation_translation(simulate_pos_,simulate_angle_));</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">    collision_obj_-&gt;computeAABB();</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">    simulate_step_=0;</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">    if(time_idx==time_end_idx_)</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">        simulate_steps_=0;</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">    else</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">        simulate_steps_=steps;</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">         Eigen::Vector2d tangent = positions_[time_idx+1] - positions_[time_idx];</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">        simulate_delta_pos_=tangent/simulate_steps_;</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">        double angle = orientations_[time_idx+1] - orientations_[time_idx];</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">        if (angle &gt; M_PI) {angle -= 2 * M_PI;}</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">        else if (angle &lt; -M_PI) {angle += 2 * M_PI;}</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">        simulate_delta_angle_=angle/simulate_steps_;</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">    return 0;</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">int Trajectory::simulate_step(void)</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment">    if(simulate_step_&gt;simulate_steps_-1) return -1;</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">    simulate_step_++;</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">    simulate_pos_+=simulate_delta_pos_;</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">    simulate_angle_+=simulate_delta_angle_;</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">    collision_obj_-&gt;setTransform(collision::FCLTransform::fcl_get_3d_rotation_translation(simulate_pos_,simulate_angle_));</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">    collision_obj_-&gt;computeAABB();</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">    return 0;</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classcollision_1_1_trajectory.html#a16467256bfd806c0a152211b94c8d55f">  161</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_trajectory.html#a16467256bfd806c0a152211b94c8d55f">Trajectory::print</a>(std::ostringstream &amp;stream)<span class="keyword"> const </span>{</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  stream &lt;&lt; <span class="stringliteral">&quot;Trajectory, time &quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">time_start_idx_</a> &lt;&lt; <span class="stringliteral">&quot;-&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_time_variant_collision_object.html#a83f60dea6e80754d544e5af6cedd36f1">time_end_idx_</a> </div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;         &lt;&lt; std::endl;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">collision_object_at_time_</a>.size(); i++) {</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      stream &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; i+<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">time_start_idx_</a> &lt;&lt; <span class="stringliteral">&quot;:&quot;</span>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <a class="code" href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">collision_object_at_time_</a>[i]-&gt;print(stream);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classcollision_1_1_trajectory.html#ad0afb0d6928a4f20bb975a05b3f97947">  170</a></span>&#160;<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> <a class="code" href="classcollision_1_1_trajectory.html#ad0afb0d6928a4f20bb975a05b3f97947">Trajectory::getBoundingVolume</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  std::array&lt;double,2&gt; x = {INFINITY,-INFINITY};</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  std::array&lt;double,2&gt; y = {INFINITY,-INFINITY};</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  std::array&lt;int,2&gt; t = {<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">time_start_idx_</a>, <a class="code" href="classcollision_1_1_time_variant_collision_object.html#a83f60dea6e80754d544e5af6cedd36f1">time_end_idx_</a>};</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;<span class="keywordtype">object</span> : <a class="code" href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">collision_object_at_time_</a>) {</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> temp = <span class="keywordtype">object</span>-&gt;getBoundingVolume();</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    std::array&lt;double,2&gt; x_temp = temp-&gt;x();</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    std::array&lt;double,2&gt; y_temp = temp-&gt;y();</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">if</span> (x_temp[0] &lt; x[0]) { x[0] = x_temp[0]; }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (x_temp[1] &gt; x[1]) { x[1] = x_temp[1]; }</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">if</span> (y_temp[0] &lt; y[0]) { y[0] = y_temp[0]; }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordflow">if</span> (y_temp[1] &gt; y[1]) { y[1] = y_temp[1]; }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  }</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// ***************************************************************************</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="comment">// Hier kann eine Optimierung zum Aufspalten der Trajektorie eingefuegt werden</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// ***************************************************************************</span></div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <a class="code" href="classcollision_1_1_bounding_volume.html">BoundingVolume</a>* bv = <span class="keyword">new</span> <a class="code" href="classcollision_1_1_bounding_volume.html">BoundingVolume</a>(x,y,t,shared_from_this());</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  std::shared_ptr&lt;BoundingVolume&gt; bv_ptr = std::shared_ptr&lt;BoundingVolume&gt;(bv);</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordflow">return</span> bv_ptr;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div><div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a></div><div class="ttdoc">Oriented rectangle. </div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00016">rectangle_obb.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></div><div class="ttdoc">TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step...</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00023">timevariant_collisionobject.h:23</a></div></div>
<div class="ttc" id="trajectory_8h_html"><div class="ttname"><a href="trajectory_8h.html">trajectory.h</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a2877328b888698d91450c528e4aa8ebc"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a2877328b888698d91450c528e4aa8ebc">collision::Trajectory::Trajectory</a></div><div class="ttdeci">Trajectory(int time_start_idx, std::vector&lt; Eigen::Vector2d &gt; positions, std::vector&lt; double &gt; orientations, double length, double width, double max_interp_distance=1.0)</div><div class="ttdoc">Creates a new Trajectory. </div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8cc_source.html#l00019">trajectory.cc:19</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ac948c1373eecc7d7c9029996c5dc2ab4"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">collision::TimeVariantCollisionObject::time_start_idx_</a></div><div class="ttdeci">int time_start_idx_</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00078">timevariant_collisionobject.h:78</a></div></div>
<div class="ttc" id="classcollision_1_1_bounding_volume_html"><div class="ttname"><a href="classcollision_1_1_bounding_volume.html">collision::BoundingVolume</a></div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume_8h_source.html#l00012">boundingvolume.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html"><div class="ttname"><a href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a></div><div class="ttdoc">ShapeGroup can contain simple shapes. </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00032">shapegroup.h:32</a></div></div>
<div class="ttc" id="shapegroup_8h_html"><div class="ttname"><a href="shapegroup_8h.html">shapegroup.h</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="_application_8h_source.html#l00025">Application.h:25</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_a83f60dea6e80754d544e5af6cedd36f1"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#a83f60dea6e80754d544e5af6cedd36f1">collision::TimeVariantCollisionObject::time_end_idx_</a></div><div class="ttdeci">int time_end_idx_</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00079">timevariant_collisionobject.h:79</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ab59814dd8f7a109edd22df8d250c96f7"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ab59814dd8f7a109edd22df8d250c96f7">collision::TimeVariantCollisionObject::appendObstacle</a></div><div class="ttdeci">int appendObstacle(CollisionObjectConstPtr obstacle)</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8cc_source.html#l00172">timevariant_collisionobject.cc:172</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_ad0afb0d6928a4f20bb975a05b3f97947"><div class="ttname"><a href="classcollision_1_1_trajectory.html#ad0afb0d6928a4f20bb975a05b3f97947">collision::Trajectory::getBoundingVolume</a></div><div class="ttdeci">BoundingVolumeConstPtr getBoundingVolume() const </div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8cc_source.html#l00170">trajectory.cc:170</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_aaeda983c8e36ac18f988168261f57744"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">collision::TimeVariantCollisionObject::collision_object_at_time_</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; collision_object_at_time_</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00080">timevariant_collisionobject.h:80</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a0a570ef4b0d6ee7ea2f2f1721d528a43"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">collision::ShapeGroup::addToGroup</a></div><div class="ttdeci">void addToGroup(ShapeConstPtr shape)</div><div class="ttdoc">Adds a simple shape to the ShapeGroup. </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00200">shapegroup.cc:200</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a16467256bfd806c0a152211b94c8d55f"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a16467256bfd806c0a152211b94c8d55f">collision::Trajectory::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const </div><div class="ttdoc">Print all parameters of the shape. </div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8cc_source.html#l00161">trajectory.cc:161</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1f68b4864b28e2694b3b3b7a1f9e43c"><div class="ttname"><a href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">collision::BoundingVolumeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const BoundingVolume &gt; BoundingVolumeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00035">collision_object.h:35</a></div></div>
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